US9244456B2 - Tool path generation method and apparatus - Google Patents

Tool path generation method and apparatus Download PDF

Info

Publication number
US9244456B2
US9244456B2 US13/880,173 US201013880173A US9244456B2 US 9244456 B2 US9244456 B2 US 9244456B2 US 201013880173 A US201013880173 A US 201013880173A US 9244456 B2 US9244456 B2 US 9244456B2
Authority
US
United States
Prior art keywords
machining
point
tool path
bend angle
imaginary
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active, expires
Application number
US13/880,173
Other languages
English (en)
Other versions
US20130204426A1 (en
Inventor
Masashi Tanuma
Takashi Komori
Takahiro Yoshimura
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Makino Milling Machine Co Ltd
Original Assignee
Makino Milling Machine Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Makino Milling Machine Co Ltd filed Critical Makino Milling Machine Co Ltd
Assigned to MAKINO MILLING MACHINE CO. LTD. reassignment MAKINO MILLING MACHINE CO. LTD. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: KOMORI, TAKASHI, TANUMA, MASASHI, YOSHIMURA, TAKAHIRO
Publication of US20130204426A1 publication Critical patent/US20130204426A1/en
Application granted granted Critical
Publication of US9244456B2 publication Critical patent/US9244456B2/en
Active legal-status Critical Current
Adjusted expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/4093—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/182—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by the machine tool function, e.g. thread cutting, cam making, tool direction control
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
    • G05B19/4103—Digital interpolation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34145—Bezier interpolation, spline
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35018—Determining bending die radius from part data, estimated radius and calculation

Definitions

  • the present invention relates to a tool path generation method and apparatus for generating a tool path at the time of machining a workpiece.
  • Patent Literature 1 describes a method of comparing a bend angle of a broken line with a predetermined threshold value and validating (turning on) or invalidating (turning off) the smoothing treatment in accordance with their relative magnitudes.
  • machining point data is generally prepared by utilizing a CAD/CAM system etc.
  • the lengths of the broken line segments vary and the bend angles also vary. Therefore, if the method, like the one described in the above Patent Literature 1, of turning the smoothing treatment on and off at a specific bend angle is used, there will be portions where the smoothing treatment is turned on and portions where it is turned off regardless of the curvature of the machined surface being constant and therefore, it is difficult to obtain a smooth machined surface.
  • the present invention is a tool path generation method for generating a tool path at a time of machining a workpiece, including a bend angle calculation step of calculating a bend angle at each connecting point of a broken line which is obtained by successively connecting a predetermined plurality of machining points by line segments, an approximation curve derivation step of deriving an approximation curve closer to the connecting point the larger the bend angle calculated by the bend angle calculation step, and a tool path generation step of generating the tool path by a new broken line along the approximation curve derived by the curve derivation step.
  • the present invention is a tool path generation apparatus for generating a tool path at a time of machining a workpiece, including a bend angle calculation unit calculating a bend angle at each connecting point of a broken line which is obtained by successively connecting a predetermined plurality of machining points by line segments, an approximation curve derivation unit deriving an approximation curve closer to the connecting point the larger the bend angle calculated by the bend angle calculation unit, and a tool path generation unit generating the tool path by a new broken line along the approximation curve derived by the approximation curve derivation unit.
  • FIG. 1 is a view which shows the general configuration of the entire machine tool which has a tool path generation apparatus according to an embodiment of the present invention.
  • FIG. 2A to FIG. 2C are views which show transitions in the generation of a tool path.
  • FIG. 3A and FIG. 3B are views which explain problem points in the case of smoothing treatment such as in FIG. 2C .
  • FIG. 4 is a view which explains other problem points in the case of smoothing treatment such as in FIG. 2C .
  • FIG. 5 is a block diagram which shows the configuration of a control device of FIG. 1 .
  • FIG. 6 is a view which explains processing in the bend angle calculation unit of FIG. 5 .
  • FIG. 7 is a view which explains processing in a route insertion unit, approximation curve calculation unit, and data extraction unit of FIG. 5 , in the case where machining points are comprised of 2D data.
  • FIG. 8 is a view which shows a characteristic feature of the imaginary block length which is stored in a characteristic storage unit of FIG. 5 .
  • FIG. 9 is a view which explains a calculation formula of an approximation curve.
  • FIG. 10 is a view which explains processing in a route insertion unit, approximation curve calculation unit, and data extraction unit of FIG. 5 , in the case where machining points are comprised of 3D data.
  • FIG. 11 is a view which explains the advantageous effects according to the present invention.
  • FIG. 1 is a view which shows a general configuration of the entire machine tool which has the tool path generation apparatus according to an embodiment of the present invention and shows a vertical machining center as an example.
  • a column 2 is erected on a bed 1 .
  • a spindle head 3 is supported movably in the up-down direction (Z-axis direction) via a linear feed mechanism.
  • a tool 4 is attached facing downward via the spindle.
  • the tool 4 is, for example, an end mill and is driven to rotate by a spindle motor inside of the spindle head 3 .
  • a saddle 5 is supported movably in the horizontal direction (Y-axis direction) via a linear feed mechanism.
  • a table 6 is supported movably in the horizontal direction (X-axis direction) perpendicular to the Y-axis direction.
  • Each of the linear feed mechanisms is, for example, comprised of a ball screw and a servo motor which drives rotation of the ball screw. Due to the above configuration, the tool 4 and the workpiece W move relative to each other in the three perpendicular axis directions (X-, Y-, and Z-directions) whereby the workpiece W is worked.
  • the spindle motor and the servo motors are controlled in accordance with a machining program by a control device 10 .
  • a path of movement of the tool 4 is set as a tool path in advance. The tool 4 moves relative to the workpiece 4 along this tool path.
  • the machining program is prepared by utilizing a known CAD/CAM system. That is, the CAD data corresponding to the machined shape of the workpiece W is used as the basis to prepare CAM data consisting of a set of fine linear commands. This CAM data is comprised of a tremendous volume of point group data, so data is thinned from the CAD data in accordance with predetermined rules to give an amount of data suitable for a machining program. Due to this, a machining program is prepared.
  • FIG. 2A is a view which shows an example of a tool path according to the thus prepared machining program.
  • a comparatively rough broken line is used to show the tool path PA 1 .
  • the machining program is given coordinate data of end points of the broken line segments (called “machining command points”, “block end points”, or simply “machining points”) in a block format.
  • the block end points are successively connected to give the tool path PA 1 of FIG. 2A .
  • the angle ⁇ formed by the line segment L 2 with the extension of the line segment L 1 when it is extended toward L 2 is defined as a “bend angle”.
  • FIG. 2B is a view which shows an example of a tool path after the smoothing treatment.
  • the tool path PA 2 is given by a large number of points of coordinate data along the approximation curve, and the smoothing treatment results in a smooth curve. For this reason, a smooth machined surface is obtained.
  • the tool path PA 2 greatly deviates from the targeted workpiece shape (dotted line) and therefore the desired shape of the workpiece cannot be obtained. To avoid this problem, it may be considered to not carry out the smoothing treatment across-the-board for all of the machining points, but to invalidate the smoothing treatment when a bend angle ⁇ is large,
  • FIG. 2C is a view which shows an example of a tool path PA 3 which is obtained by invalidating the smoothing treatment when a bend angle ⁇ at a machining point is larger than a threshold value ⁇ a. If validating (turning on) and invalidating (turning off) the smoothing treatment in accordance with bend angles ⁇ in this way, it is possible to suppress shape error of the workpiece W at a machining point P 1 with a large bend angle ⁇ .
  • machining point data is prepared by utilizing a CAD/CAM system. Therefore, even if the curvature of a machined surface SF 1 is constant such as when machining a cylindrical shape, the lengths of the broken line segments (block lengths ⁇ L) will differ and the bend angles ⁇ will also differ as shown in FIG. 3A . For this reason, when carrying out smoothing treatment, there will be a region A where the smoothing treatment is partially turned off as shown in FIG. 3B , so it will be difficult to obtain a smooth machined surface.
  • FIG. 5 is a block diagram which shows the configuration of the control device 10 .
  • the control device 10 has a tool path generation device 20 which generates a tool path at the time of machining a workpiece and a numerical control device 30 which uses the NC data set by the machining program as the basis to control the motors of the machine tool so that the tool 4 moves relative to the workpiece W along this tool path.
  • the tool path generation device 20 is comprised of a processing system which has a CPU, ROM, RAM, and other peripheral circuits etc. It has a program reading unit 21 , a bend angle calculation unit 22 , a route insertion unit 23 , a characteristic storage unit 24 , an approximation curve calculation unit 25 , and a data extraction unit 26 .
  • the program reading unit 21 successively reads the block end point data of the machining program which is prepared by the CAD/CAM system, i.e., the 3D coordinate data of the machining points (machining point data).
  • the bend angle calculation unit 22 successively calculates the bend angle ⁇ of each machining point, based on the machining point data read by the program reading unit 21 . For example as shown in FIG. 6 , if the machining point data of the three points P 0 , P 1 , and P 2 are read, the bend angle ⁇ 1 at P 1 is calculated, if the machining point data of P 3 is read, the bend angle ⁇ 2 at P 2 is calculated, and if the machining point data of P 4 is read, the bend angle ⁇ 3 at P 3 is calculated. It is also possible to read all of the machining point data, then calculate the bend angles ⁇ at the machining points all together.
  • the route insertion unit 23 inserts a route (imaginary block R) along the imaginary axis ⁇ which perpendicularly intersects each of the X-axis, Y-axis, and Z-axis at the machining points used for calculation of the bend angles ⁇ .
  • the route insertion unit 23 , the approximation curve calculation unit 25 , and the data extraction unit 26 carry out the smoothing treatment by using the concept of the imaginary block R to generate a new tool path.
  • the imaginary block R first, the explanation will be given assuming that the machining points are given by 2D coordinate data.
  • FIG. 7 is a conceptual view of an imaginary block R in the case where the machining points are given by 2D coordinate data.
  • the machining points P 1 , P 2 , and P 3 are respectively set on an XY plane (upper figure), while the X- and Y-components of the points are respectively P 1 (x 1 , y 1 ), P 2 (x 2 , y 2 ), and P 3 (x 3 , y 3 ).
  • P 1 and P 2 are connected by the line segment L 1
  • P 2 and P 3 are connected by the line segment L 2 , whereby a broken line is formed.
  • the curve PA 5 in the figure is a tool path which is obtained by approximation of the machining points P 1 , P 2 , and P 3 by a curve on the XY plane.
  • the axis perpendicular to each of the X-axis and Y-axis is the Z-axis.
  • the imaginary axis ⁇ is equal to the Z-axis. Therefore, if inserting the imaginary block R at the machining point P 2 which has the bend angle ⁇ 2 , i.e., between the line segments L 1 and L 2 , toward the Z-axis direction, the line segment L 2 is shifted in the Z-axis direction, and a new broken line which successively connects the end points P 1 and P 2 of the line segment L 1 and the end points P 2 ′ and P 3 ′ of the line segment L 2 after shifting is obtained.
  • the length of the inserted imaginary block R (imaginary block length ⁇ R) is determined by a characteristic feature of the imaginary block length ⁇ R which is stored in the characteristic storage unit 24 .
  • FIG. 8 is a view which shows the feature f( ⁇ ) of the imaginary block length ⁇ R which is stored in the characteristic storage unit 24 .
  • the imaginary block length ⁇ R which corresponds to the bend angle ⁇ 2 at the machining point P 2 of FIG. 7 is the maximum ⁇ Rmax.
  • the X, Y, and ⁇ components of the points P 1 , P 2 , P 2 ′, and P 3 ′ which constitute the new broken line become respectively P 1 (x 1 , y 1 , 0), P 2 (x 2 , y 2 , 0), P 2 ′ (x 2 , y 2 , ⁇ 2 ), and P 3 ′ (x 3 , y 3 , ⁇ 2 ).
  • the approximation curve calculation unit 25 of FIG. 5 calculates the approximation curve L 4 of these four points ( FIG. 7 ).
  • the approximation curve L 4 is, for example, calculated by a 3D Bezier curve.
  • a “Bezier curve” is an approximation curve P(t) of the four points Q 0 , Q 1 , Q 2 , and Q 3 such as shown in FIG. 9 .
  • the calculation formula is expressed by the following formula (I).
  • P ( t ) (1 ⁇ t ) 3 Q 0+3 t (1 ⁇ t ) 2 Q 1+3 t 2 (1 ⁇ t ) Q 2+ t 3 Q 3 (I)
  • the letter “t” corresponds to the path on the curve P(t) which starts from Q 0 .
  • the data extraction unit 26 extracts the remaining components after removing the ⁇ -components from the approximation curve L 4 , i.e., the XY components of the points Pt. Due to this, as shown in FIG. 7 , it is possible to obtain a plurality of points Pt′ which are points projecting the points Pt on the XY plane. By successively connecting these Pt′, a new tool path PA 4 can be generated.
  • the thus generated tool path PA 4 has a smaller inside curve amount of the tool path (distance from machining point P 2 to tool path PA 4 ) compared with the tool path PAS which is obtained by simply approximating the machining points P 1 to P 3 by a curve ( FIG. 7 ) and is suppressed in strength of smoothing of the inside curve amount of the tool path.
  • the “strength of smoothing” is determined in accordance with the imaginary block length ⁇ R which is inserted at the machining point P 2 .
  • the larger the bend angle ⁇ is, the longer the imaginary block length ⁇ R becomes ( FIG. 8 ). For this reason, the larger the bend angle ⁇ , the more the strength of the smoothing can be suppressed.
  • the bend angle ⁇ is large and the block length ⁇ R is long, so the approximation curve L 4 passes on the imaginary block R and the inside curve amount becomes 0.
  • the bend angle ⁇ is small, the approximation curve L 4 does not pass on the imaginary block R and the inside curve amount does not become 0. That is, in a region C where the bend angle ⁇ is larger than ⁇ of FIG. 8 , the inside curve amount becomes 0 and a result similar to those when the smoothing treatment is turned off, shown in the machining point P 1 of FIG. 2C , is obtained.
  • the inside curve amount is large and a result similar to those when the smoothing treatment is turned on, shown in the machining point P 1 of FIG. 2B , is obtained.
  • FIG. 10 shows the smoothing treatment when the machining points P 1 to P 3 are given by the XYZ coordinates.
  • the route insertion unit 23 inserts an imaginary block R along the imaginary axis ⁇ which is perpendicular to each of the XYZ axes, between the line segment L 1 and the line segment L 2 .
  • the imaginary axis ⁇ is a conceptual axis which cannot actually be shown, it is shown for convenience sake in FIG. 10 .
  • FIG. 10 shows the tool path PA 6 obtained by just smoothing treatment of the machining points P 1 to P 3 .
  • the imaginary block length ⁇ R is determined by the characteristic feature f( ⁇ ) of FIG. 8 .
  • the approximation curve calculation unit 25 calculates the approximation curve L 5 of the points P 1 , P 2 , P 2 ′, and P 3 ′ after insertion of the imaginary block R by the above formula (I). That is, by entering the XYZ ⁇ coordinate components of P 1 , P 2 , P 2 ′, and P 3 ′ into Q 0 to Q 3 of formula (I) and changing “t” over the entire length of 0 to P(t), the coordinate values of P(t) are determined for each coordinate component.
  • the data extraction unit 26 extracts the components remaining after removal of the ⁇ -components from the approximation curve L 5 , i.e., the XYZ components of the points Pt. Due to this, as shown in FIG. 10 , it is possible to obtain points Pt′ corresponding to Pt in the XYZ 3D space. By successively connecting these Pt′, a new tool path PA 7 can be generated.
  • the thus generated tool path PA 7 has a smaller inward curve amount of the tool path compared with the tool path obtained by just smoothing treatment of the machining points P 1 to P 3 and is suppressed in strength of smoothing.
  • the point group data obtained by the data extraction unit 26 is output to a not shown program rewriting unit, and the block data of the machining program is rewritten along the tool path PA 7 .
  • the numerical control device 30 controls the drive of the motors. Due to this, the workpiece W is machined along the tool path PA 7 .
  • the program reading unit 21 reads the machining program which is generated by the CAD/CAM system, while the bend angle calculation unit 22 calculates the bend angle ⁇ of the broken line which is obtained by successively connecting the block end points of the machining program (bend angle calculation step).
  • an approximation curve L 5 closer to the connecting point P 2 the larger the calculated bend angle ⁇ (for example, ⁇ 2 ) is derived (curve derivation step), and a tool path PA 7 is generated along the approximation curve L 5 (tool path generation step).
  • the route insertion unit 23 inserts an imaginary block R, which is parallel to the imaginary axis ⁇ perpendicular to the X-axis, Y-axis, and Z-axis and which has an imaginary block length ⁇ R which corresponds to the bend angle ⁇ 2 , at the connecting point P 2 . Due to this, the machining points P 2 and P 3 respectively move in parallel along the imaginary axis ⁇ by the imaginary block length ⁇ R whereby the imaginary points P 2 ′ and P 3 ′ are set.
  • the approximation curve calculation unit 25 calculates the approximation curve L 5 of the four points P 1 , P 2 , P 2 ′, and P 3 ′, and the data extraction unit 26 extracts the XYZ components of the approximation curve L 5 and thus, the new tool path PA 7 is generated by the point group data of the 3D space.
  • FIG. 11 is a view which shows a characteristic feature f 1 (broken line) of the smoothing strength in the case of turning the smoothing treatment on and off in accordance with the relative magnitude of a bend angle ⁇ and threshold value ⁇ a, and a characteristic feature f 2 (solid line) of the smoothing strength in the case of carrying out the smoothing treatment according to the present embodiment.
  • the smoothing strength corresponds to the inward curve amount of the connecting point.
  • the smoothing treatment is turned on (smoothing strength maximum), while at the machining point P 2 , the smoothing treatment is turned off (smoothing strength 0). For this reason, despite the bend angle ⁇ not changing that much, the smoothing strength rapidly changes and obtaining a smooth machined surface becomes difficult.
  • the characteristic feature f 2 if the bend angles are ⁇ 1 and ⁇ 2 , the change in smoothing strength is small and a smooth machined surface can be obtained.
  • the feature of the present invention is changing the strength of smoothing in accordance with the bend angle ⁇ .
  • the approximation curve derivation step and the tool path generation step as a smoothing treatment step may be configured in any way. That is, it is also possible to generate a tool path closer to the connecting point the larger the bend angle ⁇ without inserting the imaginary block R.
  • the larger the bend angle ⁇ at the middle machining point P 2 the greater the amount of movement along the imaginary axis ⁇ perpendicular to the XYZ axes is made by moving in parallel the machining points P 2 and P 3 along the imaginary axis ⁇ in the same direction to set imaginary points (first imaginary point P 2 ′ and second imaginary point P 3 ′), and an approximation curve L 5 of these points P 1 , P 2 , P 2 ′, and P 3 ′ is calculated.
  • the approximation curve derivation step may be configured in any way.
  • the program reading unit 21 reads the machining program prepared by the CAD/CAM system and the bend angle calculation unit 22 calculates the bend angles ⁇ at the individual connecting points.
  • the configuration of the bend angle calculation unit is not limited to this.
  • the route insertion unit 23 inserts the imaginary axis ⁇ at a connecting point and the approximation curve calculation unit 25 approximates the curve by a Bezier curve to find the approximation curve L 5 .
  • the configuration of the approximation curve derivation unit is not limited to the one which is explained above.
  • the data extraction unit 26 extracts the XYZ components of the approximation curve L 5 to generate the tool path PA 7 .
  • the configuration of the tool path generation unit is not limited to the one explained above.
  • the control device 10 provided at the machine tool is provided with the tool path generation apparatus 20 and the numerical control device 30 .
  • the numerical control device 20 may also be provided with the tool path generation apparatus 30 .
  • the tool path generation apparatus 10 is applied to a machining center, the tool path generation apparatus of the present invention can be similarly applied to another machine tool which requires generation of a tool path at the time of machining a workpiece.
  • smoothing treatment closer to the connecting point the larger the bend angle at the connecting point is carried out and a tool path is generated by the new broken line after the smoothing treatment. Therefore, it is possible to suppress error of the machined shape of the workpiece and obtain a smooth machined surface even if there are differences in the bend angles.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Geometry (AREA)
  • Numerical Control (AREA)
  • Automatic Control Of Machine Tools (AREA)
US13/880,173 2010-10-25 2010-10-25 Tool path generation method and apparatus Active 2031-10-11 US9244456B2 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2010/069243 WO2012056554A1 (ja) 2010-10-25 2010-10-25 工具経路の生成方法および生成装置

Publications (2)

Publication Number Publication Date
US20130204426A1 US20130204426A1 (en) 2013-08-08
US9244456B2 true US9244456B2 (en) 2016-01-26

Family

ID=45993308

Family Applications (1)

Application Number Title Priority Date Filing Date
US13/880,173 Active 2031-10-11 US9244456B2 (en) 2010-10-25 2010-10-25 Tool path generation method and apparatus

Country Status (6)

Country Link
US (1) US9244456B2 (zh)
EP (1) EP2634658B1 (zh)
JP (1) JP5615377B2 (zh)
KR (1) KR101538729B1 (zh)
CN (1) CN103189809B (zh)
WO (1) WO2012056554A1 (zh)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6257796B2 (ja) 2014-10-29 2018-01-10 株式会社牧野フライス製作所 工具経路の生成方法および工作機械
JP6267161B2 (ja) * 2015-08-10 2018-01-24 ファナック株式会社 平行する２軸の軸制御を行う数値制御装置
JP6363642B2 (ja) * 2016-02-29 2018-07-25 ファナック株式会社 接線連続のコーナにおけるコーナ経路の最適化機能を有する数値制御装置
CN105955194B (zh) * 2016-05-10 2018-09-04 大连理工大学 一种离散加工路径的拐点平滑方法
CN107980109B (zh) * 2017-01-04 2021-05-07 深圳配天智能技术研究院有限公司 机器人运动轨迹规划方法及相关装置
JP7264747B2 (ja) * 2019-06-27 2023-04-25 株式会社クボタ 屈曲角の算出方法および算出装置
WO2021177180A1 (ja) * 2020-03-04 2021-09-10 ファナック株式会社 数値制御装置
DE112021002766T5 (de) * 2020-05-14 2023-03-02 Fanuc Corporation Bearbeitungspfaderstellungsvorrichtung
TWI742981B (zh) * 2021-01-06 2021-10-11 財團法人工業技術研究院 加工路徑過切分析方法
JP2022183616A (ja) * 2021-05-31 2022-12-13 株式会社ジャノメ 経路教示データ作成装置及びその方法並びにプログラム

Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3328655A (en) * 1963-07-31 1967-06-27 Inductosyn Corp Multiaxes interpolating system for automatic machine tool with position control
US4823275A (en) * 1985-07-17 1989-04-18 Fanuc Area cutting method
JPH0375905A (ja) 1989-08-18 1991-03-29 Fanuc Ltd 数値制御装置の補間方式
JPH07204987A (ja) 1994-01-25 1995-08-08 Daikin Ind Ltd 曲面教示方法およびその装置
US5526272A (en) * 1993-01-18 1996-06-11 Canon Kabushiki Kaisha Data preparation device and method for preparing data for machining work
JPH0975905A (ja) 1995-09-19 1997-03-25 Yanmar Agricult Equip Co Ltd 生ごみ処理装置
US5703782A (en) * 1987-07-28 1997-12-30 Dundorf; David M. Method and system for producing 3-D carred signs using automatic tool path generation and computer-simulation techniques
JPH10240329A (ja) 1997-02-26 1998-09-11 Mitsubishi Electric Corp 曲線の微小線分化方法およびスプライン補間機能を有する数値制御装置
US5926389A (en) * 1991-02-15 1999-07-20 Trounson; James E. Computer control system for generating geometric designs
KR20000005003A (ko) 1996-03-26 2000-01-25 와다 아끼히로 공구이동경로 데이터의 작성방법, 그 작성장치, 가공방법, 및가공시스템
US20030204285A1 (en) * 2002-04-26 2003-10-30 Thomas Steven M. Virtual design, inspect and grind optimization process
US7450127B2 (en) * 2005-03-23 2008-11-11 Hurco Companies Inc. Method of tolerance-based trajectory planning
JP2009199483A (ja) 2008-02-25 2009-09-03 Mitsubishi Heavy Ind Ltd 数値制御装置
US20120215334A1 (en) * 2009-10-30 2012-08-23 Makino Milling Machine Co. Ltd. Tool path generation method and device

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2929996B2 (ja) * 1996-03-29 1999-08-03 トヨタ自動車株式会社 工具点列発生方法
JP3904993B2 (ja) * 2002-08-16 2007-04-11 ファナック株式会社 曲線補間方法
US7653517B2 (en) * 2003-04-15 2010-01-26 Toyota Jidosha Kabushiki Kaisha Design data generating apparatus and design data generating method
CN100549619C (zh) * 2007-11-22 2009-10-14 重庆大学 检测镁合金型材拉伸矫直后平直度的方法

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3328655A (en) * 1963-07-31 1967-06-27 Inductosyn Corp Multiaxes interpolating system for automatic machine tool with position control
US4823275A (en) * 1985-07-17 1989-04-18 Fanuc Area cutting method
US5703782A (en) * 1987-07-28 1997-12-30 Dundorf; David M. Method and system for producing 3-D carred signs using automatic tool path generation and computer-simulation techniques
JPH0375905A (ja) 1989-08-18 1991-03-29 Fanuc Ltd 数値制御装置の補間方式
US5926389A (en) * 1991-02-15 1999-07-20 Trounson; James E. Computer control system for generating geometric designs
US5526272A (en) * 1993-01-18 1996-06-11 Canon Kabushiki Kaisha Data preparation device and method for preparing data for machining work
JPH07204987A (ja) 1994-01-25 1995-08-08 Daikin Ind Ltd 曲面教示方法およびその装置
JPH0975905A (ja) 1995-09-19 1997-03-25 Yanmar Agricult Equip Co Ltd 生ごみ処理装置
KR20000005003A (ko) 1996-03-26 2000-01-25 와다 아끼히로 공구이동경로 데이터의 작성방법, 그 작성장치, 가공방법, 및가공시스템
US6311098B1 (en) * 1996-03-26 2001-10-30 Toyota Jidosha Kabushiki Kaisha Method and apparatus for preparing data on tool moving path, and machining method and system
JPH10240329A (ja) 1997-02-26 1998-09-11 Mitsubishi Electric Corp 曲線の微小線分化方法およびスプライン補間機能を有する数値制御装置
US20030204285A1 (en) * 2002-04-26 2003-10-30 Thomas Steven M. Virtual design, inspect and grind optimization process
US7450127B2 (en) * 2005-03-23 2008-11-11 Hurco Companies Inc. Method of tolerance-based trajectory planning
JP2009199483A (ja) 2008-02-25 2009-09-03 Mitsubishi Heavy Ind Ltd 数値制御装置
US20120215334A1 (en) * 2009-10-30 2012-08-23 Makino Milling Machine Co. Ltd. Tool path generation method and device

Also Published As

Publication number Publication date
WO2012056554A1 (ja) 2012-05-03
CN103189809A (zh) 2013-07-03
EP2634658A4 (en) 2016-12-07
JPWO2012056554A1 (ja) 2014-03-20
KR101538729B1 (ko) 2015-07-22
US20130204426A1 (en) 2013-08-08
EP2634658A1 (en) 2013-09-04
CN103189809B (zh) 2015-11-25
JP5615377B2 (ja) 2014-10-29
EP2634658B1 (en) 2019-07-24
KR20130095762A (ko) 2013-08-28

Similar Documents

Publication Publication Date Title
US9244456B2 (en) Tool path generation method and apparatus
EP2634659B1 (en) Method and device for generating tool path
US8478438B2 (en) Numerical control device
CN108369407B (zh) 刀具路径修正装置及刀具路径修正方法
US10328542B2 (en) Tool path-generating method, drilling method, and tool path-generating device
JP6644630B2 (ja) 加工プログラム処理装置およびこれを備えた多軸加工機
JP6646027B2 (ja) ポストプロセッサ装置、加工プログラム生成方法、ｃｎｃ加工システム及び加工プログラム生成用プログラム
JP6684962B2 (ja) 工具経路生成方法および装置
CN109725602B (zh) 数值控制装置及方法、cnc机床、计算机可读信息记录介质
JP4115925B2 (ja) 工作機械の制御方法及びその制御装置
JP2008117032A (ja) 加工制御装置およびそのプログラム
WO2014068709A1 (ja) 工作機械の制御装置および工作機械
EP3486032B1 (en) Machining program generation device and machining method
JP2005352876A (ja) Ｎｃデータ作成装置、５軸ｎｃ工作機械の制御装置及びｃｌデータ作成装置
CN114739290B (zh) 线激光扫描化铣胶刻线的路径规划方法及系统
JP2985138B2 (ja) 速度制御装置および数値制御送り速度制御方法
JP2008158726A (ja) 加工制御装置およびそのプログラム
JPWO2017138120A1 (ja) 歯科技工物製造装置、方法、及びプログラム
JPH1153019A (ja) Ｎｃ装置の楕円補間方法
JP2001147708A (ja) 円形状の加工方法及びその加工を行うためのｎｃデータ作成装置
JPH0561517A (ja) 数値制御装置
JP2001009671A (ja) 平頭切削工具を使用した工具軌跡データ生成方法
JPH11102213A (ja) Ｎｃプログラム作成方法及びｎｃプログラム作成装置

Legal Events

Date Code Title Description
AS Assignment

Owner name: MAKINO MILLING MACHINE CO. LTD., JAPAN

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:TANUMA, MASASHI;KOMORI, TAKASHI;YOSHIMURA, TAKAHIRO;REEL/FRAME:030242/0698

Effective date: 20130307

STCF Information on status: patent grant

Free format text: PATENTED CASE

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 4TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1551); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

Year of fee payment: 4

MAFP Maintenance fee payment

Free format text: PAYMENT OF MAINTENANCE FEE, 8TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1552); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY

Year of fee payment: 8